/************************************************************************************************************************************** * Project: discoverpixy * Website: https://github.com/t-moe/discoverpixy * Authors: Aaron Schmocker, Timo Lang * Institution: BFH Bern University of Applied Sciences * File: common/app/pixy_frame.c * * Version History: * Date Autor Email SHA Changes * 2015-06-07 timolang@gmail.com c87220d Renamed pixy_helper to pixy_frame. Updated docu of appliaction. added doxygen comments to pixy_{frame,control}.h * **************************************************************************************************************************************/ #include "pixy_frame.h" #include "pixy.h" #include "tft.h" #include static int renderBA81(uint16_t xpos, uint16_t ypos, uint16_t width, uint16_t height, uint32_t frameLen, uint8_t* frame); static int saveBA81(FILE_HANDLE* handle, uint16_t width, uint16_t height, uint32_t frameLen, uint8_t* frame); int pixy_render_full_frame(uint16_t x, uint16_t y) { return pixy_render_cropped_frame(x, y, 0, 0, 320, 200); } int pixy_render_cropped_frame(uint16_t x, uint16_t y, uint16_t xoffset, uint16_t yoffset, uint16_t width, uint16_t height) { uint8_t* videodata; int32_t response; int32_t fourccc; int8_t renderflags; uint16_t xwidth; uint16_t ywidth; uint32_t size; int return_value = pixy_command("cam_getFrame", // String id for remote procedure INT8(0x21), // mode INT16(xoffset), // xoffset INT16(yoffset), // yoffset INT16(width), // width INT16(height), // height END_OUT_ARGS, // separator &response, // pointer to mem address for return value &fourccc, &renderflags, &xwidth, &ywidth, &size, &videodata, // pointer to mem address for returned frame END_IN_ARGS); if (return_value == 0) { return_value = renderBA81(x, y, xwidth, ywidth, size, videodata); } return return_value; } int pixy_save_full_frame(FILE_HANDLE* handle) { return pixy_save_cropped_frame(handle, 0, 0, 320, 200); } int pixy_save_cropped_frame(FILE_HANDLE* handle, uint16_t xoffset, uint16_t yoffset, uint16_t width, uint16_t height) { uint8_t* videodata; int32_t response; int32_t fourccc; int8_t renderflags; uint16_t xwidth; uint16_t ywidth; uint32_t size; int return_value = pixy_command("cam_getFrame", // String id for remote procedure INT8(0x21), // mode INT16(xoffset), // xoffset INT16(yoffset), // yoffset INT16(width), // width INT16(height), // height END_OUT_ARGS, // separator &response, // pointer to mem address for return value &fourccc, &renderflags, &xwidth, &ywidth, &size, &videodata, // pointer to mem address for returned frame END_IN_ARGS); if (return_value == 0) { return_value = saveBA81(handle, xwidth, ywidth, size, videodata); } return return_value; } static void interpolateBayer(uint16_t width, uint16_t x, uint16_t y, uint8_t* pixel, uint8_t* r, uint8_t* g, uint8_t* b) { if (y & 1) { if (x & 1) { *r = *pixel; *g = (*(pixel - 1) + * (pixel + 1) + * (pixel + width) + * (pixel - width)) >> 2; *b = (*(pixel - width - 1) + * (pixel - width + 1) + * (pixel + width - 1) + * (pixel + width + 1)) >> 2; } else { *r = (*(pixel - 1) + * (pixel + 1)) >> 1; *g = *pixel; *b = (*(pixel - width) + * (pixel + width)) >> 1; } } else { if (x & 1) { *r = (*(pixel - width) + * (pixel + width)) >> 1; *g = *pixel; *b = (*(pixel - 1) + * (pixel + 1)) >> 1; } else { *r = (*(pixel - width - 1) + * (pixel - width + 1) + * (pixel + width - 1) + * (pixel + width + 1)) >> 2; *g = (*(pixel - 1) + * (pixel + 1) + * (pixel + width) + * (pixel - width)) >> 2; *b = *pixel; } } } static int renderBA81(uint16_t xpos, uint16_t ypos, uint16_t width, uint16_t height, uint32_t frameLen, uint8_t* frame) { uint16_t x, y; uint8_t r, g, b; // skip first line frame += width; // don't render top and bottom rows, and left and rightmost columns because of color // interpolation //uint32_t decodedimage[(width-2)*(height-2)]; uint16_t* decodedimage = malloc(sizeof(uint16_t) * (width - 2) * (height - 2)); if (decodedimage == NULL) { //not enough free space to decode image in memory //decode & render image pixel by pixel for (y = 1; y < height - 1; y++) { frame++; for (x = 1; x < width - 1; x++, frame++) { interpolateBayer(width, x, y, frame, &r, &g, &b); tft_draw_pixel(xpos + x - 1, ypos + y - 1, RGB(r, g, b)); } frame++; } } else { //enough space uint16_t* line = decodedimage; for (y = 1; y < height - 1; y++) { //line = (unsigned int *)img.scanLine(y-1); frame++; for (x = 1; x < width - 1; x++, frame++) { interpolateBayer(width, x, y, frame, &r, &g, &b); //*line++ = (0xff<<24) | (r<<16) | (g<<8) | (b<<0); *line++ = RGB(r, g, b); } frame++; } tft_draw_bitmap_unscaled(xpos, ypos, width - 2, height - 2, decodedimage); free(decodedimage); } return 0; } static int saveBA81(FILE_HANDLE* handle, uint16_t width, uint16_t height, uint32_t frameLen, uint8_t* frame) { uint16_t x, y; uint8_t r, g, b; uint32_t fpos = handle->fpos; uint32_t row_size_padded = ((width - 2) * 3 + 3) & (~3); //row size aligned to 4 bytes uint32_t fpos_end = fpos + row_size_padded * (height - 2); // skip first line frame += width; // don't render top and bottom rows, and left and rightmost columns because of color // interpolation for (y = 1; y < height - 1; y++) { frame++; uint8_t rowbuf[row_size_padded]; //Bitmaps are saved "bottom-up". Seek to the right row. if (filesystem_file_seek(handle, fpos_end - row_size_padded * y) != F_OK) { return -1; } for (x = 1; x < width - 1; x++, frame++) { interpolateBayer(width, x, y, frame, &r, &g, &b); //bitmaps are saved in 24bit b,g,r format rowbuf[(x - 1) * 3] = b; rowbuf[(x - 1) * 3 + 1] = g; rowbuf[(x - 1) * 3 + 2] = r; } if (filesystem_file_write(handle, rowbuf, row_size_padded) != F_OK) { return -1; } frame++; } return 0; } int pixy_cc_set_region(uint8_t signum, uint16_t xoffset, uint16_t yoffset, uint16_t width, uint16_t height) { int32_t response; int return_value = pixy_command("cc_setSigRegion", // String id for remote procedure INT32(0), // type = normal color code INT8(signum), INT16(xoffset), // xoffset INT16(yoffset), // yoffset INT16(width), // width INT16(height), // height END_OUT_ARGS, // separator &response, // pointer to mem address for return value END_IN_ARGS); return return_value; }